相关论文: Extremum Seeking Nonovershooting Control of Strict…

We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…

This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…

A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…

We investigate the problem of data-driven, on-the-fly control of systems with unknown nonlinear dynamics where data from only a single finite-horizon trajectory and possibly side information on the dynamics are available. Such side…

This paper deals with the gradient extremum seeking control for static scalar maps with actuators governed by distributed diffusion partial differential equations (PDEs). To achieve the real-time optimization objective, we design a…

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…

This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…

This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…

Reference tracking systems involve a plant that is stabilized by a local feedback controller and a command center that indicates the reference set-point the plant should follow. Typically, these systems are subject to limitations such as…

Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…

In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…

This paper develops a control scheme, based on the use of Long Short-Term Memory neural network models and Nonlinear Model Predictive Control, which guarantees recursive feasibility with slow time variant set-points and disturbances, input…

This paper proposes the incorporation of static event-triggered control in the actuation path of Newton-based extremum seeking and its comparison with the earlier gradient version. As in the continuous methods, the convergence rate of the…

Control-affine Extremum Seeking Control (ESC) systems have been increasingly studied and applied in the last decade. In a recent effort, many control-affine ESC structures have been generalized in a unifying class and their stability was…

Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…

Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

In this paper, we investigate the optimal output tracking problem for linear discrete-time systems with unknown dynamics using reinforcement learning and robust output regulation theory. This output tracking problem only allows to utilize…

This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…